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<div class="title">PVT_ctrl.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;PVT_ctrl.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;PVT_Ctr::PVT_Ctr(<span class="keywordtype">double</span> timeStepIn, <span class="keyword">const</span> <span class="keywordtype">char</span> *jsonPath) {</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    jointNum=motorName.size();</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    tau_out_lpf.assign(jointNum,<a class="code" href="classLPF__Fst.html">LPF_Fst</a>());</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    motor_vel.assign(jointNum,0);</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    motor_pos_cur.assign(jointNum,0);</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    motor_pos_des_old.assign(jointNum,0);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    motor_tor_out.assign(jointNum,0);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    pvt_Kp.assign(jointNum,0);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    pvt_Kd.assign(jointNum,0);</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    maxTor.assign(jointNum,400);</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    maxVel.assign(jointNum,50);</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    maxPos.assign(jointNum,3.14);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    minPos.assign(jointNum,-3.14);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    PV_enable.assign(jointNum,1);</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">// read joint pvt parameters</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    Json::Reader reader;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    Json::Value root_read;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    std::ifstream in(jsonPath,std::ios::binary);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    reader.parse(in,root_read);</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;jointNum;i++){</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        pvt_Kp[i]=root_read[motorName[i]][<span class="stringliteral">&quot;kp&quot;</span>].asDouble();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        pvt_Kd[i]=root_read[motorName[i]][<span class="stringliteral">&quot;kd&quot;</span>].asDouble();</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        maxTor[i]=root_read[motorName[i]][<span class="stringliteral">&quot;maxTorque&quot;</span>].asDouble();</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        maxVel[i]=root_read[motorName[i]][<span class="stringliteral">&quot;maxSpeed&quot;</span>].asDouble();</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        maxPos[i]=root_read[motorName[i]][<span class="stringliteral">&quot;maxPos&quot;</span>].asDouble();</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        minPos[i]=root_read[motorName[i]][<span class="stringliteral">&quot;minPos&quot;</span>].asDouble();</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keywordtype">double</span> fc=root_read[motorName[i]][<span class="stringliteral">&quot;PVT_LPF_Fc&quot;</span>].asDouble();</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        tau_out_lpf[i].setPara(fc, timeStepIn);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        tau_out_lpf[i].ftOut(0);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    }</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;}</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::dataBusRead(<a class="code" href="structDataBus.html">DataBus</a> &amp;busIn) {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;jointNum;i++)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        motor_pos_cur[i]=busIn.motors_pos_cur[i];</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        motor_vel[i]=busIn.motors_vel_cur[i];</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    }</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    motor_pos_des=busIn.motors_pos_des;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    motor_vel_des=busIn.motors_vel_des;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    motor_tor_des=busIn.motors_tor_des;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::dataBusWrite(<a class="code" href="structDataBus.html">DataBus</a> &amp;busIn) {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    busIn.motors_tor_out=motor_tor_out;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    busIn.motors_tor_cur=motor_tor_out;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::setJointPD(<span class="keywordtype">double</span> kp, <span class="keywordtype">double</span> kd, <span class="keyword">const</span> <span class="keywordtype">char</span> *jointName) {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">auto</span> it = std::find(motorName.begin(), motorName.end(), jointName);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">int</span> <span class="keywordtype">id</span>=-1;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">if</span> (it != motorName.end()) {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordtype">id</span> = std::distance(motorName.begin(), it);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        std::cout &lt;&lt; jointName &lt;&lt; <span class="stringliteral">&quot; NOT found!&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    pvt_Kp[id]=kp;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    pvt_Kd[id]=kd;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">// joint pvt control</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::calMotorsPVT() {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;jointNum;i++)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordtype">double</span> tauDes{0};</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        tauDes=PV_enable[i]*pvt_Kp[i]*(motor_pos_des[i]-motor_pos_cur[i])+PV_enable[i]*pvt_Kd[i]*(motor_vel_des[i]-motor_vel[i]);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        tauDes=tau_out_lpf[i].ftOut(tauDes)+motor_tor_des[i];</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">if</span> (fabs(tauDes)&gt;=fabs(maxTor[i]))</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;            tauDes= sign(tauDes)*maxTor[i];</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        motor_tor_out[i]=tauDes;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        motor_pos_des_old[i]=motor_pos_des[i];</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">// joint pvt control with delta position limit</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::calMotorsPVT(<span class="keywordtype">double</span> deltaP_Lim) {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;jointNum;i++)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordtype">double</span> tauDes{0};</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordtype">double</span> delta=motor_pos_des[i]-motor_pos_des_old[i];</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordflow">if</span> (fabs(delta)&gt;= fabs(deltaP_Lim))</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            delta=deltaP_Lim * sign(delta);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordtype">double</span> pDes=delta+motor_pos_des_old[i];</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        tauDes=PV_enable[i]*pvt_Kp[i]*(pDes-motor_pos_cur[i])+PV_enable[i]*pvt_Kd[i]*(motor_vel_des[i]-motor_vel[i]);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        tauDes=tau_out_lpf[i].ftOut(tauDes)+motor_tor_des[i];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordflow">if</span> (fabs(tauDes)&gt;=fabs(maxTor[i]))</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            tauDes= sign(tauDes)*maxTor[i];</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        motor_tor_out[i]=tauDes;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        motor_pos_des_old[i]=pDes;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;}</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="keywordtype">double</span> PVT_Ctr::sign(<span class="keywordtype">double</span> in) {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">if</span> (in&gt;=0)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">return</span> 1.0;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordflow">return</span> -1.0;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;}</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">// Enable PV control item for all joints. Note the PV control item is default enabled, no need for calling this function</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::enablePV() {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    PV_enable.assign(jointNum,1);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::enablePV(<span class="keywordtype">int</span> jtId) {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    PV_enable[jtId]=1;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">// Disable PV control item for all joints.</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::disablePV() {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    PV_enable.assign(jointNum,0);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="keywordtype">void</span> PVT_Ctr::disablePV(<span class="keywordtype">int</span> jtId) {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    PV_enable[jtId]=0;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}</div>
<div class="ttc" id="aclassLPF__Fst_html"><div class="ttname"><a href="classLPF__Fst.html">LPF_Fst</a></div><div class="ttdef"><b>Definition:</b> <a href="LPF__fst_8h_source.html#l00012">LPF_fst.h:12</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00015">data_bus.h:15</a></div></div>
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